V-REP not workin with ROS Kinetic

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ssj
Posts: 32
Joined: 27 Feb 2017, 15:40

V-REP not workin with ROS Kinetic

Post by ssj » 18 May 2018, 05:17

hi
I was using ROS Indigo with vrep and everything was going well. I ve upgraded to ROS Kinetic and downloaded the latest version of vrep. when I open an old scene in it created in the previous version of vrep this message shows

Loading scene...
Loading scene (/home/shakeel/catkin_ws/src/energy_consumption/vrep/my_octabot.ttt). Serialization version is 18.
File was previously written with V-REP version 3.03.02 (rev 3) (V-REP PRO EDU license)
Scene opened.
Simulation started.
Warning: 'print()' now prints to the status bar, instead of the console (use 'print=printToConsole' to revert).
The RosPlugin was not found. Simulation will not run properly!
Simulation Initialized
Lua runtime error: [string "CHILD SCRIPT Hokuyo"]:51: attempt to call global 'simExtROS_enablePublisher' (a nil value)
stack traceback:
[string "CHILD SCRIPT Hokuyo"]:51: in main chunk
Simulation stopping...
Simulation stopped.

what have I missed?
Are the scenes created in different versions compatible with other versions? or I need to re-create the scene? why is ROS plugin did not find although it roscore is working?

coppelia
Site Admin
Posts: 6766
Joined: 14 Dec 2012, 00:25

Re: V-REP not workin with ROS Kinetic

Post by coppelia » 18 May 2018, 14:15

Hello,

it appears that you are still using the very old ROS plugin. It is highly recommended to switch to the much better ROS Interface.

From the error message, the ROS plugin could not be loaded. Try to recompile it.

Cheers

ssj
Posts: 32
Joined: 27 Feb 2017, 15:40

Re: V-REP not workin with ROS Kinetic

Post by ssj » 19 May 2018, 20:18

Ok I shall switch to ROS Interface, thanks for the information.
what do you mean by recompile? I dont understand.. how to recompile?
I ran roscore
then in other terminal i ran ./vrep.sh

it showed

Plugin 'RosInterface': loading...
Plugin 'RosInterface': warning: replaced variable 'simROS'
Plugin 'RosInterface': load succeeded.

but when i try to use vrep as ros node and run the vrep scen it say ros plug not found.. and error shown

Lua runtime error: [string "CHILD SCRIPT Hokuyo"]:52: unsupported message type. please edit and recompile ROS plugin (simROS.advertise @ 'RosInterface' plugin)
stack traceback:
[C]: in function 'advertise'

I also tried to copy the same vrep folder worked well with ros indigo but is a bit old version. when I ran ./vrep.sh
it gives an error even when use chmod +x ./vrep.sh

bash: ./vrep.sh: Permission denied

How to address this error?

fferri
Posts: 224
Joined: 09 Sep 2013, 19:28

Re: V-REP not workin with ROS Kinetic

Post by fferri » 21 May 2018, 08:03

ssj wrote:
19 May 2018, 20:18
Ok I shall switch to ROS Interface, thanks for the information.
what do you mean by recompile? I dont understand.. how to recompile?
http://www.coppeliarobotics.com/helpFil ... Indigo.htm
ssj wrote:
19 May 2018, 20:18
I ran roscore
then in other terminal i ran ./vrep.sh

it showed

Plugin 'RosInterface': loading...
Plugin 'RosInterface': warning: replaced variable 'simROS'
Plugin 'RosInterface': load succeeded.

but when i try to use vrep as ros node and run the vrep scen it say ros plug not found.. and error shown
ROS and RosInterface are two distinct plugins.

The ROS plugin is old, deprecated, and has limited functionality.

The RosInterface plugin gives you access to most of the ROS API.
ssj wrote:
19 May 2018, 20:18
Lua runtime error: [string "CHILD SCRIPT Hokuyo"]:52: unsupported message type. please edit and recompile ROS plugin (simROS.advertise @ 'RosInterface' plugin)
stack traceback:
[C]: in function 'advertise'
You should add the message name you are trying to use to meta/messages.txt and recompile the plugin.

Message definitions are compiled in the plugin itself.
ssj wrote:
19 May 2018, 20:18
I also tried to copy the same vrep folder worked well with ros indigo but is a bit old version. when I ran ./vrep.sh
it gives an error even when use chmod +x ./vrep.sh

bash: ./vrep.sh: Permission denied

How to address this error?
Please show the output of running ls -l in the V-REP directory (where vrep.sh is contained).

ssj
Posts: 32
Joined: 27 Feb 2017, 15:40

Re: V-REP not workin with ROS Kinetic

Post by ssj » 22 May 2018, 23:02

The vrep folder is at home and the output of ls -1 is:
shakeel@shakeel-MacBookAir:~/vrep$ ls -1
addOnDemoUi.ttb
AUTO_SAVED_INSTANCE_1.ttt
bubbleRobClient
bubbleRobServer
cadFiles
compiledRosPlugins
credits.txt
e-puckLicense.txt
externalIkDemo1
externalIkDemo2
externalIkDemo3
frames.gv
frames.pdf
GNU Affero General Public License.txt
GPL.txt
helpFiles
imageformats
irb360s.ik
lbr_iiwa_7_r800.ik
LGPL V2.1.txt
LGPL V3.txt
libavcodec.so.53
libavformat.so.53
libavutil.so.51
libboost_chrono.so.1.54.0
libboost_filesystem.so.1.54.0
libboost_serialization.so.1.54.0
libboost_system.so.1.54.0
libboost_thread.so.1.54.0
libCGAL.so
libCGAL.so.12
libCGAL.so.12.0.0
libicudata.so.54.1
libicui18n.so.54.1
libicuuc.so.54.1
libLoadErrorCheck.sh
liblua5.1.so
libluajit.so
libompl.so.1.1.0
libqscintilla2.so.9.0.2
libQt5Core.so.5.5.0
libQt5DBus.so.5.5.0
libQt5Gui.so.5.5.0
libQt5Network.so.5.5.0
libQt5OpenGL.so.5.5.0
libQt5PrintSupport.so.5.5.0
libQt5SerialPort.so.5.5.0
libQt5Widgets.so.5.5.0
libQt5XcbQpa.so.5.5.0
libswscale.so.2
libv_repExtBubbleRob.so
libv_repExtCollada.so
libv_repExtConvexDecompose.so
libv_repExtCustomUI.so
libv_repExtDynamicsBullet-2-78.so
libv_repExtDynamicsBullet-2-83.so
libv_repExtDynamicsNewton.so
libv_repExtDynamicsOde.so
libv_repExtDynamicsVortex.so
libv_repExtExternalRenderer.so
libv_repExtK3.so
libv_repExtLuaRemoteApiClient.so
libv_repExtMeshCalc.so
libv_repExtMtb.so
libv_repExtOMPL.so
libv_repExtOpenMesh.so
libv_repExtPovRay.so
libv_repExtQhull.so
libv_repExtReflexxesTypeII.so
libv_repExtRemoteApi.so
libv_repExtRosInterface.so
libv_repExtRosSkeleton.so
libv_repExtRos.so
libv_repExtRRS1.so
libv_repExtSDF.so
libv_repExtSimpleFilter.so
libv_repExtSurfaceReconstruction.so
libv_repExtUrdf.so
libv_repExtVision.so
libv_repLua.so
libv_rep.so
libvvcl.so
libVxCore.so.6.7
libVxMath.so.6.7
libVxPlatform.so.6.7
ltn12.lua
lua
mime
mime.lua
models
mtbServer
platforms
platformthemes
programming
rcsServer
readme.txt
recording.avi
remoteApiConnections.txt
rosBubbleRob
rosBubbleRob2
scenes
sensors
socket
socket.lua
system
tutorials
updtChck.dat
vrep
vrepAddOnFunc_addOnFunctionDemo.lua
vrepAddOnFunc_minimalisticExporter.lua
vrepAddOnFunc_minimalisticImporter.lua
vrepAddOnScript-addOnScriptDemo.lua
v-rep_notepad++.zip
vrepProEduV303XX-LicenseAgreement.txt
vrep_ros_interface
vrep.sh
xcbglintegrations
shakeel@shakeel-MacBookAir:~/vrep$
[
ssj wrote:
19 May 2018, 20:18
lease show the output of running ls -l in the V-REP directory (where vrep.sh is contained).

fferri
Posts: 224
Joined: 09 Sep 2013, 19:28

Re: V-REP not workin with ROS Kinetic

Post by fferri » 23 May 2018, 09:12

ls -l (lowercase L) not ls -1

ssj
Posts: 32
Joined: 27 Feb 2017, 15:40

Re: V-REP not workin with ROS Kinetic

Post by ssj » 24 May 2018, 00:14

oh sorry..
the output is:
shakeel@shakeel-MacBookAir:~/vrep$ ls -l
total 199536
-rw-r--r-- 1 shakeel shakeel 1363 نومبر 10 2016 addOnDemoUi.ttb
-rw-r--r-- 1 shakeel shakeel 528054 مٓی 12 06:20 AUTO_SAVED_INSTANCE_1.ttt
-rw-r--r-- 1 shakeel shakeel 78488 نومبر 10 2016 bubbleRobClient
-rw-r--r-- 1 shakeel shakeel 39948 نومبر 10 2016 bubbleRobServer
drwxr-xr-x 3 shakeel shakeel 4096 نومبر 10 2016 cadFiles
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 compiledRosPlugins
-rw-r--r-- 1 shakeel shakeel 34458 نومبر 10 2016 credits.txt
-rw-r--r-- 1 shakeel shakeel 8449 نومبر 10 2016 e-puckLicense.txt
-rw-r--r-- 1 shakeel shakeel 462350 نومبر 10 2016 externalIkDemo1
-rw-r--r-- 1 shakeel shakeel 445099 نومبر 10 2016 externalIkDemo2
-rw-r--r-- 1 shakeel shakeel 473808 نومبر 10 2016 externalIkDemo3
-rw-r--r-- 1 shakeel shakeel 658 ستمبر 7 2017 frames.gv
-rw-r--r-- 1 shakeel shakeel 18934 ستمبر 7 2017 frames.pdf
-rw-r--r-- 1 shakeel shakeel 34094 نومبر 10 2016 GNU Affero General Public License.txt
-rw-r--r-- 1 shakeel shakeel 35821 نومبر 10 2016 GPL.txt
drwxr-xr-x 4 shakeel shakeel 4096 نومبر 10 2016 helpFiles
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 imageformats
-rw-r--r-- 1 shakeel shakeel 11842 نومبر 10 2016 irb360s.ik
-rw-r--r-- 1 shakeel shakeel 2743 نومبر 10 2016 lbr_iiwa_7_r800.ik
-rw-r--r-- 1 shakeel shakeel 27424 نومبر 10 2016 LGPL V2.1.txt
-rw-r--r-- 1 shakeel shakeel 7816 نومبر 10 2016 LGPL V3.txt
-rw-r--r-- 1 shakeel shakeel 4410194 نومبر 10 2016 libavcodec.so.53
-rw-r--r-- 1 shakeel shakeel 538193 نومبر 10 2016 libavformat.so.53
-rw-r--r-- 1 shakeel shakeel 141237 نومبر 10 2016 libavutil.so.51
-rw-r--r-- 1 shakeel shakeel 26968 نومبر 10 2016 libboost_chrono.so.1.54.0
-rw-r--r-- 1 shakeel shakeel 88936 نومبر 10 2016 libboost_filesystem.so.1.54.0
-rw-r--r-- 1 shakeel shakeel 436976 نومبر 10 2016 libboost_serialization.so.1.54.0
-rw-r--r-- 1 shakeel shakeel 14536 نومبر 10 2016 libboost_system.so.1.54.0
-rw-r--r-- 1 shakeel shakeel 88632 نومبر 10 2016 libboost_thread.so.1.54.0
-rw-r--r-- 1 shakeel shakeel 179529 نومبر 10 2016 libCGAL.so
-rw-r--r-- 1 shakeel shakeel 179529 نومبر 10 2016 libCGAL.so.12
-rw-r--r-- 1 shakeel shakeel 179529 نومبر 10 2016 libCGAL.so.12.0.0
-rw-r--r-- 1 shakeel shakeel 25337612 نومبر 10 2016 libicudata.so.54.1
-rw-r--r-- 1 shakeel shakeel 3161818 نومبر 10 2016 libicui18n.so.54.1
-rw-r--r-- 1 shakeel shakeel 2010678 نومبر 10 2016 libicuuc.so.54.1
-rw-r--r-- 1 shakeel shakeel 405 نومبر 10 2016 libLoadErrorCheck.sh
-rw-r--r-- 1 shakeel shakeel 204756 نومبر 10 2016 liblua5.1.so
-rw-r--r-- 1 shakeel shakeel 454048 نومبر 10 2016 libluajit.so
-rw-r--r-- 1 shakeel shakeel 7416875 نومبر 10 2016 libompl.so.1.1.0
-rw-r--r-- 1 shakeel shakeel 3223946 نومبر 10 2016 libqscintilla2.so.9.0.2
-rw-r--r-- 1 shakeel shakeel 5511256 نومبر 10 2016 libQt5Core.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 507600 نومبر 10 2016 libQt5DBus.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 6346544 نومبر 10 2016 libQt5Gui.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 1409600 نومبر 10 2016 libQt5Network.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 357272 نومبر 10 2016 libQt5OpenGL.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 450696 نومبر 10 2016 libQt5PrintSupport.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 103360 نومبر 10 2016 libQt5SerialPort.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 6806888 نومبر 10 2016 libQt5Widgets.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 1466144 نومبر 10 2016 libQt5XcbQpa.so.5.5.0
-rw-r--r-- 1 shakeel shakeel 335195 نومبر 10 2016 libswscale.so.2
-rw-r--r-- 1 shakeel shakeel 403966 نومبر 10 2016 libv_repExtBubbleRob.so
-rw-r--r-- 1 shakeel shakeel 728462 نومبر 10 2016 libv_repExtCollada.so
-rw-r--r-- 1 shakeel shakeel 705008 نومبر 10 2016 libv_repExtConvexDecompose.so
-rw-r--r-- 1 shakeel shakeel 855917 نومبر 10 2016 libv_repExtCustomUI.so
-rw-r--r-- 1 shakeel shakeel 1873178 نومبر 10 2016 libv_repExtDynamicsBullet-2-78.so
-rw-r--r-- 1 shakeel shakeel 1850828 نومبر 10 2016 libv_repExtDynamicsBullet-2-83.so
-rw-r--r-- 1 shakeel shakeel 16308084 نومبر 10 2016 libv_repExtDynamicsNewton.so
-rw-r--r-- 1 shakeel shakeel 1397025 نومبر 10 2016 libv_repExtDynamicsOde.so
-rw-r--r-- 1 shakeel shakeel 501854 نومبر 10 2016 libv_repExtDynamicsVortex.so
-rw-r--r-- 1 shakeel shakeel 302212 نومبر 10 2016 libv_repExtExternalRenderer.so
-rw-r--r-- 1 shakeel shakeel 421843 نومبر 10 2016 libv_repExtK3.so
-rw-r--r-- 1 shakeel shakeel 758905 نومبر 10 2016 libv_repExtLuaRemoteApiClient.so
-rw-r--r-- 1 shakeel shakeel 1173828 نومبر 10 2016 libv_repExtMeshCalc.so
-rw-r--r-- 1 shakeel shakeel 254665 نومبر 10 2016 libv_repExtMtb.so
-rw-r--r-- 1 shakeel shakeel 2236672 نومبر 10 2016 libv_repExtOMPL.so
-rw-r--r-- 1 shakeel shakeel 1426758 نومبر 10 2016 libv_repExtOpenMesh.so
-rw-r--r-- 1 shakeel shakeel 1567843 نومبر 10 2016 libv_repExtPovRay.so
-rw-r--r-- 1 shakeel shakeel 641175 نومبر 10 2016 libv_repExtQhull.so
-rw-r--r-- 1 shakeel shakeel 353236 دسمبر 19 2016 libv_repExtReflexxesTypeII.so
-rw-r--r-- 1 shakeel shakeel 624647 نومبر 10 2016 libv_repExtRemoteApi.so
-rw-r--r-- 1 shakeel shakeel 26193003 نومبر 10 2016 libv_repExtRosInterface.so
-rw-r--r-- 1 shakeel shakeel 540414 نومبر 10 2016 libv_repExtRosSkeleton.so
-rw-r--r-- 1 shakeel shakeel 12549973 نومبر 10 2016 libv_repExtRos.so
-rw-r--r-- 1 shakeel shakeel 366675 نومبر 10 2016 libv_repExtRRS1.so
-rw-r--r-- 1 shakeel shakeel 1429677 نومبر 10 2016 libv_repExtSDF.so
-rw-r--r-- 1 shakeel shakeel 167414 نومبر 10 2016 libv_repExtSimpleFilter.so
-rw-r--r-- 1 shakeel shakeel 756749 نومبر 10 2016 libv_repExtSurfaceReconstruction.so
-rw-r--r-- 1 shakeel shakeel 489541 نومبر 10 2016 libv_repExtUrdf.so
-rw-r--r-- 1 shakeel shakeel 560498 نومبر 10 2016 libv_repExtVision.so
-rw-r--r-- 1 shakeel shakeel 20271 نومبر 10 2016 libv_repLua.so
-rw-r--r-- 1 shakeel shakeel 13980809 نومبر 10 2016 libv_rep.so
-rw-r--r-- 1 shakeel shakeel 22614 نومبر 10 2016 libvvcl.so
-rw-r--r-- 1 shakeel shakeel 6220600 نومبر 10 2016 libVxCore.so.6.7
-rw-r--r-- 1 shakeel shakeel 154792 نومبر 10 2016 libVxMath.so.6.7
-rw-r--r-- 1 shakeel shakeel 94008 نومبر 10 2016 libVxPlatform.so.6.7
-rw-r--r-- 1 shakeel shakeel 8177 نومبر 10 2016 ltn12.lua
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 lua
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 mime
-rw-r--r-- 1 shakeel shakeel 2433 نومبر 10 2016 mime.lua
drwxr-xr-x 15 shakeel shakeel 4096 نومبر 10 2016 models
-rw-r--r-- 1 shakeel shakeel 115185 نومبر 10 2016 mtbServer
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 platforms
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 platformthemes
drwxr-xr-x 39 shakeel shakeel 4096 مٓی 20 05:06 programming
-rw-r--r-- 1 shakeel shakeel 40429 نومبر 10 2016 rcsServer
-rw-r--r-- 1 shakeel shakeel 1288 نومبر 10 2016 readme.txt
-rw-r--r-- 1 shakeel shakeel 31437242 فروري 17 20:55 recording.avi
-rw-r--r-- 1 shakeel shakeel 931 نومبر 10 2016 remoteApiConnections.txt
-rw-r--r-- 1 shakeel shakeel 480992 نومبر 10 2016 rosBubbleRob
-rw-r--r-- 1 shakeel shakeel 308422 نومبر 10 2016 rosBubbleRob2
drwxr-xr-x 3 shakeel shakeel 4096 فروري 12 2017 scenes
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 sensors
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 socket
-rw-r--r-- 1 shakeel shakeel 4061 نومبر 10 2016 socket.lua
drwxr-xr-x 2 shakeel shakeel 4096 جنوري 26 2017 system
drwxr-xr-x 7 shakeel shakeel 4096 نومبر 10 2016 tutorials
-rw-r--r-- 1 shakeel shakeel 8 مٓی 11 14:57 updtChck.dat
-rw-r--r-- 1 shakeel shakeel 108843 نومبر 10 2016 vrep
-rw-r--r-- 1 shakeel shakeel 625 نومبر 10 2016 vrepAddOnFunc_addOnFunctionDemo.lua
-rw-r--r-- 1 shakeel shakeel 7795 نومبر 10 2016 vrepAddOnFunc_minimalisticExporter.lua
-rw-r--r-- 1 shakeel shakeel 6615 نومبر 10 2016 vrepAddOnFunc_minimalisticImporter.lua
-rw-r--r-- 1 shakeel shakeel 2268 نومبر 10 2016 vrepAddOnScript-addOnScriptDemo.lua
-rw-r--r-- 1 shakeel shakeel 17035 نومبر 10 2016 v-rep_notepad++.zip
-rw-r--r-- 1 shakeel shakeel 1286 نومبر 10 2016 vrepProEduV303XX-LicenseAgreement.txt
drwxrwxr-x 10 shakeel shakeel 4096 مٓی 20 03:27 vrep_ros_interface
-rwxr-xr-x 1 shakeel shakeel 725 مٓی 20 02:09 vrep.sh
drwxr-xr-x 2 shakeel shakeel 4096 نومبر 10 2016 xcbglintegrations
shakeel@shakeel-MacBookAir:~/vrep$

fferri
Posts: 224
Joined: 09 Sep 2013, 19:28

Re: V-REP not workin with ROS Kinetic

Post by fferri » 24 May 2018, 09:28

Please give us more information:
  • which machine hardware is that? macbook?
  • which operating system do you have? which version?
  • I see that "vrep" binary is not executable. try running

    Code: Select all

    chmod +x vrep
    and start vrep.sh again.

fferri
Posts: 224
Joined: 09 Sep 2013, 19:28

Re: V-REP not workin with ROS Kinetic

Post by fferri » 24 May 2018, 09:33

By the way, the version of V-REP you are using is quite old.

Current version is 3.5.0 and you should probably upgrade, otherwise you will not be able to use latest version of the plugins from git repositories.

ssj
Posts: 32
Joined: 27 Feb 2017, 15:40

Re: V-REP not workin with ROS Kinetic

Post by ssj » 27 May 2018, 09:55

Thank you for your reply.
my hardware is MacBook Air
Ubuntu 16.04
ROS Kinetic
After running chmod +x vrep
./vrep.sh

the error is now:
Error: could not find or correctly load the V-REP library

how can I ve both plugins i.e., ROSInterface plugin and ROS plugin?
or I should say that how can I simulate my scene written with ROS plugin in ROSInterface plugin if download vrep version 3.5.0?
I there any compatibility or a way to automatically convert script from ROS plugin to ROSInterface plugin?

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